https://github.com/ethz-asl/robust_point_cloud_registration

Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")
https://github.com/ethz-asl/robust_point_cloud_registration

alignment icp point-cloud

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Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")

• Host: GitHub
• URL: https://github.com/ethz-asl/robust_point_cloud_registration
• Owner: ethz-asl
• Created: 2016-11-14T08:52:07.000Z (about 8 years ago)
• Default Branch: master
• Last Pushed: 2017-05-15T20:36:03.000Z (over 7 years ago)
• Last Synced: 2025-01-19T18:09:01.939Z (7 days ago)
• Topics: alignment, icp, point-cloud
• Language: C++
• Homepage:
• Size: 60.5 KB
• Stars: 564
• Watchers: 32
• Forks: 182
• Open Issues: 11
• Metadata Files:
  • Readme: README.md

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README

        
# Iterative Probabilistic Data Association (IPDA)

Robust Point Cloud Registration Using One-To-Many Iterative Probabilistic Data Associations ("Robust ICP"). 

Contains wrappers for ICP, GICP, NDT as well as the source code for IPDA.

### Authors

- Simone Fontana ([email protected])

- Timo Hinzmann ([email protected]) 

- Gabriel Agamennoni ([email protected])

### Maintainers

- Timo Hinzmann ([email protected])

![](https://github.com/ethz-asl/ipda/wiki/ipda.png)

# Getting started

- [Dependencies](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Dependencies)

- [Installation](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Installation)

- [Samples](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Samples)

- [Datasets](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Datasets)

- [Jenkins](http://129.132.38.183:8080/job/robust_point_cloud_registration/)

# Citing

The Iterative Probabilistic Data Association algorithm was introduced by the following paper:

G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti "[Point Clouds Registration with Probabilistic Data Association](https://github.com/ethz-asl/ipda/wiki/0383.pdf)", in International Conference on Intelligent Robots and Systems (IROS), 2016.

```

@INPROCEEDINGS{agamennoniIROS16,

   Author = {G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti},

   Title = {Point Clouds Registration with Probabilistic Data Association},

   Booktitle = {Proc. of The International Conference on Intelligent Robots and Systems (IROS)},

   Year = {2016}

}

```

The algorithm was successfully employed in the following publication:

T. Hinzmann, T. Stastny, G. Conte, P. Doherty, P. Rudol, M. Wzorek, E. Galceran, R. Siegwart, I. Gilitschenski "[Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments](http://www.timohinzmann.com/publications/iser_2016_hinzmann.pdf)", in The 15th International Symposium on Experimental Robotics (ISER), 2016.

```

@inproceedings{iser_2016_hinzmann,

  author    = {Timo Hinzmann and Thomas Stastny and Gianpaolo Conte and Patrick Doherty and Piotr Rudol and Marius Wzorek and Enric Galceran and Roland Siegwart and Igor Gilitschenski},

  title     = {Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments},

  booktitle = {Experimental Robotics - The 15th International Symposium on Experimental

               Robotics, {ISER} 2016, October 3-6, 2016, Tokyo, Japan},

  year      = {2016},

}

```